MRPT  1.9.9
List of all members | Public Member Functions | Static Public Member Functions | Protected Attributes | Private Attributes
mrpt::nav::CRobot2NavInterface Class Referenceabstract

Detailed Description

The pure virtual interface between a real or simulated robot and any CAbstractNavigator-derived class.

The user must define a new class derived from CRobot2NavInterface and reimplement all pure virtual and the desired virtual methods according to the documentation in this class.

[New in MRPT 1.5.0] This class does not make assumptions about the kinematic model of the robot, so it can work with either Ackermann, differential-driven or holonomic robots. It will depend on the used PTGs, so checkout each PTG documentation for the lenght and meaning of velocity commands.

If used for a simulator, users may prefer to inherit from one of these classes, which already provide partial implementations:

See also
CReactiveNavigationSystem, CAbstractNavigator

Definition at line 43 of file CRobot2NavInterface.h.

#include <mrpt/nav/reactive/CRobot2NavInterface.h>

Inheritance diagram for mrpt::nav::CRobot2NavInterface:

Public Member Functions

 CRobot2NavInterface ()
 
 ~CRobot2NavInterface () override
 
virtual bool getCurrentPoseAndSpeeds (mrpt::math::TPose2D &curPose, mrpt::math::TTwist2D &curVelGlobal, mrpt::system::TTimeStamp &timestamp, mrpt::math::TPose2D &curOdometry, std::string &frame_id)=0
 Get the current pose and velocity of the robot. More...
 
virtual bool changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd)=0
 Sends a velocity command to the robot. More...
 
virtual bool changeSpeedsNOP ()
 Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command. More...
 
virtual bool stop (bool isEmergencyStop=true)=0
 Stop the robot right now. More...
 
virtual mrpt::kinematics::CVehicleVelCmd::Ptr getEmergencyStopCmd ()=0
 Gets the emergency stop command for the current robot. More...
 
virtual mrpt::kinematics::CVehicleVelCmd::Ptr getStopCmd ()=0
 Gets the emergency stop command for the current robot. More...
 
virtual mrpt::kinematics::CVehicleVelCmd::Ptr getAlignCmd (const double relative_heading_radians)
 Gets a motion command to make the robot to align with a given relative heading, without translating. More...
 
virtual bool startWatchdog (float T_ms)
 Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutive calls to changeSpeeds(). More...
 
virtual bool stopWatchdog ()
 Stop the watchdog timer. More...
 
virtual bool senseObstacles (mrpt::maps::CSimplePointsMap &obstacles, mrpt::system::TTimeStamp &timestamp)=0
 Return the current set of obstacle points, as seen from the local coordinate frame of the robot. More...
 
virtual double getNavigationTime ()
 Returns the number of seconds ellapsed since the constructor of this class was invoked, or since the last call of resetNavigationTimer(). More...
 
virtual void resetNavigationTimer ()
 see getNavigationTime() More...
 
Navigation event callbacks
virtual void sendNavigationStartEvent ()
 Callback: Start of navigation command. More...
 
virtual void sendNavigationEndEvent ()
 Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list) More...
 
virtual void sendWaypointReachedEvent (int waypoint_index, bool reached_nSkipped)
 Callback: Reached an intermediary waypoint in waypoint list navigation. More...
 
virtual void sendNewWaypointTargetEvent (int waypoint_index)
 Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation. More...
 
virtual void sendNavigationEndDueToErrorEvent ()
 Callback: Error asking sensory data from robot or sending motor commands. More...
 
virtual void sendWaySeemsBlockedEvent ()
 Callback: No progression made towards target for a predefined period of time. More...
 
virtual void sendApparentCollisionEvent ()
 Callback: Apparent collision event (i.e. More...
 
virtual void sendCannotGetCloserToBlockedTargetEvent ()
 Callback: Target seems to be blocked by an obstacle. More...
 

Static Public Member Functions

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_colors ()
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_names ()
 Map from VerbosityLevels to their corresponding names. More...
 

Protected Attributes

VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 

Private Attributes

mrpt::system::CTicTac m_navtime
 For getNavigationTime. More...
 

Logging methods

void logStr (const VerbosityLevel level, std::string_view msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=nullptr) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 
bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. More...
 

Constructor & Destructor Documentation

◆ CRobot2NavInterface()

CRobot2NavInterface::CRobot2NavInterface ( )

Definition at line 16 of file CRobot2NavInterface.cpp.

◆ ~CRobot2NavInterface()

CRobot2NavInterface::~CRobot2NavInterface ( )
overridedefault

Member Function Documentation

◆ changeSpeeds()

virtual bool mrpt::nav::CRobot2NavInterface::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd vel_cmd)
pure virtual

Sends a velocity command to the robot.

The number components in each command depends on children classes of mrpt::kinematics::CVehicleVelCmd. One robot may accept one or more different CVehicleVelCmd classes. This method resets the watchdog timer (that may be or may be not implemented in a particular robotic platform) started with startWatchdog()

Returns
false on any error.
See also
startWatchdog

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Referenced by mrpt::nav::CAbstractNavigator::changeSpeeds().

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◆ changeSpeedsNOP()

bool CRobot2NavInterface::changeSpeedsNOP ( )
virtual

Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command.

The unique effect of this callback would be resetting the watchdog timer.

Returns
false on any error.
See also
changeSpeeds(), startWatchdog()

Definition at line 21 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

Referenced by mrpt::nav::CAbstractNavigator::changeSpeedsNOP().

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ getAlignCmd()

mrpt::kinematics::CVehicleVelCmd::Ptr CRobot2NavInterface::getAlignCmd ( const double  relative_heading_radians)
virtual

Gets a motion command to make the robot to align with a given relative heading, without translating.

Only for circular robots that can rotate in place; otherwise, return an empty smart pointer to indicate that the operation is not possible (this is what the default implementation does).

Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Definition at line 30 of file CRobot2NavInterface.cpp.

Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ getCurrentPoseAndSpeeds()

virtual bool mrpt::nav::CRobot2NavInterface::getCurrentPoseAndSpeeds ( mrpt::math::TPose2D curPose,
mrpt::math::TTwist2D curVelGlobal,
mrpt::system::TTimeStamp timestamp,
mrpt::math::TPose2D curOdometry,
std::string frame_id 
)
pure virtual

Get the current pose and velocity of the robot.

The implementation should not take too much time to return, so if it might take more than ~10ms to ask the robot for the instantaneous data, it may be good enough to return the latest values from a cache which is updated in a parallel thread.

Returns
false on any error retrieving these values from the robot.
Parameters
curPose(output) The latest robot pose (typically from a mapping/localization module), in world coordinates. (x,y: meters, phi: radians)
curVelGlobal(output) The latest robot velocity vector, in world coordinates. (vx,vy: m/s, omega: rad/s)
timestamp(output) The timestamp for the read pose and velocity values. Use mrpt::system::now() unless you have something more accurate.
curOdometry(output) The latest robot raw odometry pose; may have long-time drift should be more locally consistent than curPose (x,y: meters, phi: radians)
frame_id(output) ID of the coordinate frame for curPose. Default is not modified is "map". [Only for future support to submapping,etc.]

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Referenced by mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

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◆ getEmergencyStopCmd()

virtual mrpt::kinematics::CVehicleVelCmd::Ptr mrpt::nav::CRobot2NavInterface::getEmergencyStopCmd ( )
pure virtual

Gets the emergency stop command for the current robot.

Returns
the emergency stop command

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

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◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited

◆ getNavigationTime()

double CRobot2NavInterface::getNavigationTime ( )
virtual

Returns the number of seconds ellapsed since the constructor of this class was invoked, or since the last call of resetNavigationTimer().

This will be normally wall-clock time, except in simulators where this method will return simulation time.

Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Definition at line 119 of file CRobot2NavInterface.cpp.

References m_navtime, and mrpt::system::CTicTac::Tac().

Referenced by mrpt::nav::CNavigatorManualSequence::navigationStep(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

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◆ getStopCmd()

virtual mrpt::kinematics::CVehicleVelCmd::Ptr mrpt::nav::CRobot2NavInterface::getStopCmd ( )
pure virtual

Gets the emergency stop command for the current robot.

Returns
the emergency stop command

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )
staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )
staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
std::string_view  msg_str 
) const
inherited

Main method to add the specified message string to the logger.

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ resetNavigationTimer()

void CRobot2NavInterface::resetNavigationTimer ( )
virtual

see getNavigationTime()

Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Definition at line 121 of file CRobot2NavInterface.cpp.

References m_navtime, and mrpt::system::CTicTac::Tic().

Referenced by mrpt::nav::CNavigatorManualSequence::initialize().

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◆ sendApparentCollisionEvent()

void CRobot2NavInterface::sendApparentCollisionEvent ( )
virtual

Callback: Apparent collision event (i.e.

there is at least one obstacle point inside the robot shape)

Definition at line 102 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

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◆ sendCannotGetCloserToBlockedTargetEvent()

void CRobot2NavInterface::sendCannotGetCloserToBlockedTargetEvent ( )
virtual

Callback: Target seems to be blocked by an obstacle.

Definition at line 110 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

◆ sendNavigationEndDueToErrorEvent()

void CRobot2NavInterface::sendNavigationEndDueToErrorEvent ( )
virtual

Callback: Error asking sensory data from robot or sending motor commands.

Definition at line 86 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

Referenced by mrpt::nav::CAbstractNavigator::navigationStep().

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◆ sendNavigationEndEvent()

void CRobot2NavInterface::sendNavigationEndEvent ( )
virtual

Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list)

Definition at line 63 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().

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◆ sendNavigationStartEvent()

void CRobot2NavInterface::sendNavigationStartEvent ( )
virtual

Callback: Start of navigation command.

Definition at line 56 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().

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◆ sendNewWaypointTargetEvent()

void CRobot2NavInterface::sendNewWaypointTargetEvent ( int  waypoint_index)
virtual

Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation.

Definition at line 79 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_STREAM.

Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ sendWaypointReachedEvent()

void CRobot2NavInterface::sendWaypointReachedEvent ( int  waypoint_index,
bool  reached_nSkipped 
)
virtual

Callback: Reached an intermediary waypoint in waypoint list navigation.

reached_nSkipped will be true if the waypoint was physically reached; false if it was actually "skipped".

Definition at line 70 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_STREAM.

Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ sendWaySeemsBlockedEvent()

void CRobot2NavInterface::sendWaySeemsBlockedEvent ( )
virtual

Callback: No progression made towards target for a predefined period of time.

Definition at line 94 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().

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◆ senseObstacles()

virtual bool mrpt::nav::CRobot2NavInterface::senseObstacles ( mrpt::maps::CSimplePointsMap obstacles,
mrpt::system::TTimeStamp timestamp 
)
pure virtual

Return the current set of obstacle points, as seen from the local coordinate frame of the robot.

Returns
false on any error.
Parameters
[out]obstaclesA representation of obstacles in robot-centric coordinates.
[out]timestampThe timestamp for the read obstacles. Use mrpt::system::now() unless you have something more accurate.

Referenced by mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), and mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles().

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◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string name)
inherited

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ startWatchdog()

bool CRobot2NavInterface::startWatchdog ( float  T_ms)
virtual

Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutive calls to changeSpeeds().

Parameters
T_msPeriod, in ms.
Returns
false on any error.

Definition at line 37 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_FMT.

Referenced by mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation().

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◆ stop()

virtual bool mrpt::nav::CRobot2NavInterface::stop ( bool  isEmergencyStop = true)
pure virtual

Stop the robot right now.

Parameters
[in]isEmergencyStoptrue if stop is due to some unexpected error. false if "stop" happens as part of a normal operation (e.g. target reached).
Returns
false on any error.

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Referenced by mrpt::nav::CAbstractNavigator::stop().

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◆ stopWatchdog()

bool CRobot2NavInterface::stopWatchdog ( )
virtual

Stop the watchdog timer.

Returns
false on any error.
See also
startWatchdog

Definition at line 47 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

Referenced by mrpt::nav::CAbstractNavigator::navigationStep().

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_navtime

mrpt::system::CTicTac mrpt::nav::CRobot2NavInterface::m_navtime
private

For getNavigationTime.

Definition at line 196 of file CRobot2NavInterface.h.

Referenced by getNavigationTime(), and resetNavigationTimer().




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